git.gag.com Git - fw/altos/blob - altoslib/AltosFlightSeries.java

   1 /*
   2  * Copyright © 2017 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  */
  14
  15 package org.altusmetrum.altoslib_11;
  16
  17 import java.util.*;
  18
  19 public class AltosFlightSeries extends AltosDataListener {
  20
  21         public ArrayList<AltosTimeSeries> series;
  22
  23         public int[] indices() {
  24                 int[] indices = new int[series.size()];
  25                 for (int i = 0; i < indices.length; i++)
  26                         indices[i] = -1;
  27                 step_indices(indices);
  28                 return indices;
  29         }
  30
  31         private double time(int id, int index) {
  32                 AltosTimeSeries         s = series.get(id);
  33
  34                 if (index < 0)
  35                         return Double.NEGATIVE_INFINITY;
  36
  37                 if (index < s.values.size())
  38                         return s.values.get(index).time;
  39                 return Double.POSITIVE_INFINITY;
  40         }
  41
  42         public boolean step_indices(int[] indices) {
  43                 double  min_next = time(0, indices[0]+1);
  44
  45                 for (int i = 1; i < indices.length; i++) {
  46                         double next = time(i, indices[i]+1);
  47                         if (next < min_next)
  48                                 min_next = next;
  49                 }
  50
  51                 if (min_next == Double.POSITIVE_INFINITY)
  52                         return false;
  53
  54                 for (int i = 0; i < indices.length; i++) {
  55                         double  t = time(i, indices[i] + 1);
  56
  57                         if (t <= min_next)
  58                                 indices[i]++;
  59                 }
  60                 return true;
  61         }
  62
  63         public double time(int[] indices) {
  64                 double max = time(0, indices[0]);
  65
  66                 for (int i = 1; i < indices.length; i++) {
  67                         double t = time(i, indices[i]);
  68                         if (t >= max)
  69                                 max = t;
  70                 }
  71                 return max;
  72         }
  73
  74         public double value(String name, int[] indices) {
  75                 for (int i = 0; i < indices.length; i++) {
  76                         AltosTimeSeries s = series.get(i);
  77                         if (s.label.equals(name)) {
  78                                 int index = indices[i];
  79                                 if (index < 0)
  80                                         index = 0;
  81                                 if (index >= s.values.size())
  82                                         index = s.values.size() - 1;
  83                                 return s.values.get(index).value;
  84                         }
  85                 }
  86                 return AltosLib.MISSING;
  87         }
  88
  89         public double value_before(String name, double time) {
  90                 for (AltosTimeSeries s : series) {
  91                         if (s.label.equals(name))
  92                                 return s.value_before(time);
  93                 }
  94                 return AltosLib.MISSING;
  95         }
  96
  97         public double value_after(String name, double time) {
  98                 for (AltosTimeSeries s : series) {
  99                         if (s.label.equals(name))
 100                                 return s.value_after(time);
 101                 }
 102                 return AltosLib.MISSING;
 103         }
 104
 105         public AltosTimeSeries make_series(String label, AltosUnits units) {
 106                 return new AltosTimeSeries(label, units);
 107         }
 108
 109         public void add_series(AltosTimeSeries s) {
 110                 series.add(s);
 111         }
 112
 113         public AltosTimeSeries add_series(String label, AltosUnits units) {
 114                 AltosTimeSeries s = make_series(label, units);
 115                 add_series(s);
 116                 return s;
 117         }
 118
 119         public void remove_series(AltosTimeSeries s) {
 120                 series.remove(s);
 121         }
 122
 123         public boolean has_series(String label) {
 124                 for (AltosTimeSeries s : series)
 125                         if (s.label.equals(label))
 126                                 return true;
 127                 return false;
 128         }
 129
 130         AltosTimeSeries state_series;
 131
 132         public static final String state_name = "State";
 133
 134         public void set_state(int state) {
 135                 if (state_series == null)
 136                         state_series = add_series(state_name, AltosConvert.state_name);
 137                 else if (this.state == state)
 138                         return;
 139                 System.out.printf("state %s\n", AltosLib.state_name(state));
 140                 this.state = state;
 141                 state_series.add(time(), state);
 142         }
 143
 144         AltosTimeSeries accel_series;
 145
 146         public static final String accel_name = "Accel";
 147
 148         public void set_acceleration(double acceleration) {
 149                 if (accel_series == null) {
 150                         System.out.printf("set acceleration %g\n", acceleration);
 151                         accel_series = add_series(accel_name, AltosConvert.accel);
 152                 }
 153                 accel_series.add(time(), acceleration);
 154         }
 155
 156         private void compute_accel() {
 157                 if (accel_series != null)
 158                         return;
 159
 160                 if (speed_series != null) {
 161                         AltosTimeSeries temp_series = make_series(accel_name, AltosConvert.accel);
 162                         speed_series.differentiate(temp_series);
 163                         accel_series = add_series(accel_name, AltosConvert.accel);
 164                         temp_series.filter(accel_series, 0.25);
 165                 }
 166         }
 167
 168         public void set_received_time(long received_time) {
 169         }
 170
 171         AltosTimeSeries rssi_series;
 172
 173         public static final String rssi_name = "RSSI";
 174
 175         AltosTimeSeries status_series;
 176
 177         public static final String status_name = "Radio Status";
 178
 179         public void set_rssi(int rssi, int status) {
 180                 if (rssi_series == null) {
 181                         rssi_series = add_series(rssi_name, null);
 182                         status_series = add_series(status_name, null);
 183                 }
 184                 rssi_series.add(time(), rssi);
 185                 status_series.add(time(), status);
 186         }
 187
 188         AltosTimeSeries pressure_series;
 189
 190         public static final String pressure_name = "Pressure";
 191
 192         AltosTimeSeries altitude_series;
 193
 194         public static final String altitude_name = "Altitude";
 195
 196         AltosTimeSeries height_series;
 197
 198         public static final String height_name = "Height";
 199
 200         public  void set_pressure(double pa) {
 201                 if (pressure_series == null)
 202                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 203                 pressure_series.add(time(), pa);
 204                 if (altitude_series == null)
 205                         altitude_series = add_series(altitude_name, AltosConvert.height);
 206
 207                 double altitude = AltosConvert.pressure_to_altitude(pa);
 208                 altitude_series.add(time(), altitude);
 209         }
 210
 211         private void compute_height(double ground_altitude) {
 212                 if (height_series == null) {
 213                         height_series = add_series(height_name, AltosConvert.height);
 214                         for (AltosTimeValue alt : altitude_series)
 215                                 height_series.add(alt.time, alt.value - ground_altitude);
 216                 }
 217         }
 218
 219         AltosTimeSeries speed_series;
 220
 221         public static final String speed_name = "Speed";
 222
 223         private void compute_speed() {
 224                 if (speed_series != null) {
 225                         System.out.printf("speed series already made\n");
 226                         return;
 227                 }
 228
 229                 AltosTimeSeries alt_speed_series = null;
 230                 AltosTimeSeries accel_speed_series = null;
 231
 232                 if (altitude_series != null) {
 233                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 234                         altitude_series.differentiate(temp_series);
 235
 236                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 237                         temp_series.filter(alt_speed_series, 10.0);
 238                 } else {
 239                         System.out.printf("no altitude series\n");
 240                 }
 241                 if (accel_series != null) {
 242                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 243                         accel_series.integrate(temp_series);
 244
 245                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 246                         temp_series.filter(accel_speed_series, 0.1);
 247                 } else {
 248                         System.out.printf("no accel series\n");
 249                 }
 250
 251                 if (alt_speed_series != null && accel_speed_series != null) {
 252                         double  apogee_time = AltosLib.MISSING;
 253                         if (state_series != null) {
 254                                 for (AltosTimeValue d : state_series) {
 255                                         if (d.value >= AltosLib.ao_flight_drogue){
 256                                                 apogee_time = d.time;
 257                                                 break;
 258                                         }
 259                                 }
 260                         }
 261                         if (apogee_time == AltosLib.MISSING) {
 262                                 speed_series = alt_speed_series;
 263                         } else {
 264                                 speed_series = make_series(speed_name, AltosConvert.speed);
 265                                 for (AltosTimeValue d : accel_speed_series) {
 266                                         if (d.time <= apogee_time)
 267                                                 speed_series.add(d);
 268                                 }
 269                                 for (AltosTimeValue d : alt_speed_series) {
 270                                         if (d.time > apogee_time)
 271                                                 speed_series.add(d);
 272                                 }
 273
 274                         }
 275                 } else if (alt_speed_series != null) {
 276                         speed_series = alt_speed_series;
 277                 } else if (accel_speed_series != null) {
 278                         speed_series = accel_speed_series;
 279                 }
 280                 if (speed_series != null) {
 281                         add_series(speed_series);
 282                         System.out.printf("speed series for %s set to %s\n", this.toString(), speed_series.toString());
 283                 } else
 284                         System.out.printf("didn't manage to make speed series\n");
 285         }
 286
 287         AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
 288
 289         public static final String kalman_height_name = "Kalman Height";
 290         public static final String kalman_speed_name = "Kalman Speed";
 291         public static final String kalman_accel_name = "Kalman Accel";
 292
 293         public void set_kalman(double height, double speed, double acceleration) {
 294                 if (kalman_height_series == null) {
 295                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 296                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 297                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 298                 }
 299                 kalman_height_series.add(time(), height);
 300                 kalman_speed_series.add(time(), speed);
 301                 kalman_accel_series.add(time(), acceleration);
 302         }
 303
 304         AltosTimeSeries thrust_series;
 305
 306         public static final String thrust_name = "Thrust";
 307
 308         public  void set_thrust(double N) {
 309                 if (thrust_series == null)
 310                         thrust_series = add_series(thrust_name, AltosConvert.force);
 311                 thrust_series.add(time(), N);
 312         }
 313
 314         AltosTimeSeries temperature_series;
 315
 316         public static final String temperature_name = "Temperature";
 317
 318         public  void set_temperature(double deg_c) {
 319                 if (temperature_series == null)
 320                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 321                 temperature_series.add(time(), deg_c);
 322         }
 323
 324         AltosTimeSeries battery_voltage_series;
 325
 326         public static final String battery_voltage_name = "Battery Voltage";
 327
 328         public void set_battery_voltage(double volts) {
 329                 if (volts == AltosLib.MISSING)
 330                         return;
 331                 if (battery_voltage_series == null)
 332                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 333                 battery_voltage_series.add(time(), volts);
 334         }
 335
 336         AltosTimeSeries apogee_voltage_series;
 337
 338         public static final String apogee_voltage_name = "Apogee Voltage";
 339
 340         public void set_apogee_voltage(double volts) {
 341                 if (volts == AltosLib.MISSING)
 342                         return;
 343                 if (apogee_voltage_series == null)
 344                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 345                 apogee_voltage_series.add(time(), volts);
 346         }
 347
 348         AltosTimeSeries main_voltage_series;
 349
 350         public static final String main_voltage_name = "Main Voltage";
 351
 352         public void set_main_voltage(double volts) {
 353                 if (volts == AltosLib.MISSING)
 354                         return;
 355                 if (main_voltage_series == null)
 356                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 357                 main_voltage_series.add(time(), volts);
 358         }
 359
 360         public ArrayList<AltosGPSTimeValue> gps_series;
 361
 362         public AltosGPS gps_before(double time) {
 363                 AltosGPS gps = null;
 364                 for (AltosGPSTimeValue gtv : gps_series)
 365                         if (gtv.time <= time)
 366                                 gps = gtv.gps;
 367                         else
 368                                 break;
 369                 return gps;
 370         }
 371
 372         AltosTimeSeries sats_in_view;
 373         AltosTimeSeries sats_in_soln;
 374         AltosTimeSeries gps_altitude;
 375         AltosTimeSeries gps_height;
 376         AltosTimeSeries gps_ground_speed;
 377         AltosTimeSeries gps_ascent_rate;
 378         AltosTimeSeries gps_course;
 379         AltosTimeSeries gps_speed;
 380         AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 381
 382         public static final String sats_in_view_name = "Satellites in view";
 383         public static final String sats_in_soln_name = "Satellites in solution";
 384         public static final String gps_altitude_name = "GPS Altitude";
 385         public static final String gps_height_name = "GPS Height";
 386         public static final String gps_ground_speed_name = "GPS Ground Speed";
 387         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 388         public static final String gps_course_name = "GPS Course";
 389         public static final String gps_speed_name = "GPS Speed";
 390         public static final String gps_pdop_name = "GPS Dilution of Precision";
 391         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 392         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 393
 394         public void set_gps(AltosGPS gps) {
 395                 if (gps_series == null)
 396                         gps_series = new ArrayList<AltosGPSTimeValue>();
 397                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 398
 399                 if (sats_in_soln == null) {
 400                         sats_in_soln = add_series(sats_in_soln_name, null);
 401                 }
 402                 sats_in_soln.add(time(), gps.nsat);
 403                 if (gps.pdop != AltosLib.MISSING) {
 404                         if (gps_pdop == null) {
 405                                 gps_pdop = add_series(gps_pdop_name, null);
 406                                 gps_hdop = add_series(gps_hdop_name, null);
 407                                 gps_vdop = add_series(gps_vdop_name, null);
 408                         }
 409                         gps_pdop.add(time(), gps.pdop);
 410                         gps_hdop.add(time(), gps.hdop);
 411                         gps_vdop.add(time(), gps.vdop);
 412                 }
 413                 if (gps.locked) {
 414                         if (gps_altitude == null) {
 415                                 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 416                                 gps_height = add_series(gps_height_name, AltosConvert.height);
 417                                 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 418                                 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 419                                 gps_course = add_series(gps_course_name, null);
 420                                 gps_speed = add_series(gps_speed_name, null);
 421                         }
 422                         if (gps.alt != AltosLib.MISSING) {
 423                                 gps_altitude.add(time(), gps.alt);
 424                                 if (cal_data.gps_pad != null)
 425                                         gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
 426                         }
 427                         if (gps.ground_speed != AltosLib.MISSING)
 428                                 gps_ground_speed.add(time(), gps.ground_speed);
 429                         if (gps.climb_rate != AltosLib.MISSING)
 430                                 gps_ascent_rate.add(time(), gps.climb_rate);
 431                         if (gps.course != AltosLib.MISSING)
 432                                 gps_course.add(time(), gps.course);
 433                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
 434                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 435                                                                 gps.climb_rate * gps.climb_rate));
 436                 }
 437                 if (gps.cc_gps_sat != null) {
 438                         if (sats_in_view == null)
 439                                 sats_in_view = add_series(sats_in_view_name, null);
 440                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 441                 }
 442         }
 443
 444         public static final String accel_along_name = "Accel Along";
 445         public static final String accel_across_name = "Accel Across";
 446         public static final String accel_through_name = "Accel Through";
 447
 448         AltosTimeSeries accel_along, accel_across, accel_through;
 449
 450         public static final String gyro_roll_name = "Roll Rate";
 451         public static final String gyro_pitch_name = "Pitch Rate";
 452         public static final String gyro_yaw_name = "Yaw Rate";
 453
 454         AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 455
 456         public static final String mag_along_name = "Magnetic Field Along";
 457         public static final String mag_across_name = "Magnetic Field Across";
 458         public static final String mag_through_name = "Magnetic Field Through";
 459
 460         AltosTimeSeries mag_along, mag_across, mag_through;
 461
 462         public  void set_accel(double along, double across, double through) {
 463                 if (accel_along == null) {
 464                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 465                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 466                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 467                 }
 468                 accel_along.add(time(), along);
 469                 accel_across.add(time(), across);
 470                 accel_through.add(time(), through);
 471         }
 472
 473         public  void set_accel_ground(double along, double across, double through) {
 474         }
 475
 476         public  void set_gyro(double roll, double pitch, double yaw) {
 477                 if (gyro_roll == null) {
 478                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 479                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 480                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 481                 }
 482                 gyro_roll.add(time(), roll);
 483                 gyro_pitch.add(time(), pitch);
 484                 gyro_yaw.add(time(), yaw);
 485         }
 486
 487         public  void set_mag(double along, double across, double through) {
 488                 if (mag_along == null) {
 489                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 490                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 491                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 492                 }
 493                 mag_along.add(time(), along);
 494                 mag_across.add(time(), across);
 495                 mag_through.add(time(), through);
 496         }
 497
 498         public static final String orient_name = "Tilt Angle";
 499
 500         AltosTimeSeries orient_series;
 501
 502         public void set_orient(double orient) {
 503                 if (orient_series == null)
 504                         orient_series = add_series(orient_name, AltosConvert.orient);
 505                 orient_series.add(time(), orient);
 506         }
 507
 508         public static final String pyro_voltage_name = "Pyro Voltage";
 509
 510         AltosTimeSeries pyro_voltage;
 511
 512         public  void set_pyro_voltage(double volts) {
 513                 if (pyro_voltage == null)
 514                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 515                 pyro_voltage.add(time(), volts);
 516         }
 517
 518         private static String[] igniter_voltage_names;
 519
 520         public String igniter_voltage_name(int channel) {
 521                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 522                         String[] new_igniter_voltage_names = new String[channel + 1];
 523                         int     i = 0;
 524
 525                         if (igniter_voltage_names != null) {
 526                                 for (; i < igniter_voltage_names.length; i++)
 527                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 528                         }
 529                         for (; i < channel+1; i++)
 530                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 531                         igniter_voltage_names = new_igniter_voltage_names;
 532                 }
 533                 return igniter_voltage_names[channel];
 534         }
 535
 536         AltosTimeSeries[] igniter_voltage;
 537
 538         public  void set_igniter_voltage(double[] voltage) {
 539                 int channels = voltage.length;
 540                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 541                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels + 1];
 542                         int                     i = 0;
 543
 544                         if (igniter_voltage != null) {
 545                                 for (; i < igniter_voltage.length; i++)
 546                                         new_igniter_voltage[i] = igniter_voltage[i];
 547                         }
 548                         for (; i < channels; i++)
 549                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 550                         igniter_voltage = new_igniter_voltage;
 551                 }
 552                 for (int channel = 0; channel < voltage.length; channel++)
 553                         igniter_voltage[channel].add(time(), voltage[channel]);
 554         }
 555
 556         public static final String pyro_fired_name = "Pyro Channel State";
 557
 558         AltosTimeSeries pyro_fired_series;
 559
 560         int     last_pyro_mask;
 561
 562         public  void set_pyro_fired(int pyro_mask) {
 563                 if (pyro_fired_series == null)
 564                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 565                 for (int channel = 0; channel < 32; channel++) {
 566                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 567                             (pyro_mask & (1 << channel)) != 0) {
 568                                 pyro_fired_series.add(time(), channel);
 569                         }
 570                 }
 571                 last_pyro_mask = pyro_mask;
 572         }
 573
 574         public void set_companion(AltosCompanion companion) {
 575         }
 576
 577         public void fill_in() {
 578                 System.out.printf("fill in %s\n", this.toString());
 579                 compute_speed();
 580                 compute_accel();
 581                 if (cal_data.ground_altitude != AltosLib.MISSING)
 582                         compute_height(cal_data.ground_altitude);
 583         }
 584
 585         public void init() {
 586                 time = AltosLib.MISSING;
 587                 series = new ArrayList<AltosTimeSeries>();
 588         }
 589
 590         public AltosTimeSeries[] series() {
 591                 fill_in();
 592                 return series.toArray(new AltosTimeSeries[0]);
 593         }
 594
 595         public AltosFlightSeries(AltosCalData cal_data) {
 596                 super(cal_data);
 597                 System.out.printf("new flight series %s\n", this.toString());
 598                 init();
 599         }
 600 }